Abstract: In this paper, an upper limb prosthesis has been furnished with a novel vision-based manipulation and grasping strategy. The proposed whole-body safety-critical control design includes ...

Abstract: Due to their fast and efficient locomotion, two-wheeled humanoids are fascinating systems with the potential to be involved in many application domains, including healthcare, manufacturing, ...

Create a dedicated conda environment (Python 3.8) and install PyTorch + repo deps: conda create -n intermimic-gym python=3.8 conda activate intermimic-gym conda install pytorch torchvision torchaudio ...

The centroidal MPC optimizes over the whole-body kinematics and the center off mass dynamics, with a choice to either use a single rigid body model or the full centroidal dynamics. This specific ...